EAGER: SupraPed: Biped Robot Support Expansions for Rough Terrains

EAGER：SupraPed：针对崎岖地形的双足机器人支持扩展

• 批准号: 1349982
• 负责人: Oussama Khatib
• 金额: $ 10万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-09-01 至 2014-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1349982&HistoricalAwards=false
• 关键词: EAGER; SupraPed; Biped; Robot; Support

Biped humanoid robots hold the potential to perform human-like locomotion and manipulation tasks in a variety of situations where either skilled humans are unavailable or where environmental conditions prevent human intervention. However, while bipedal motion maximizes maneuverability in tight workspaces, it simultaneously reduces locomotion stability. To initiate a new direction of ongoing research in legged robot motion control, this work will enable humanoid robots to transform into tripeds or quadrupeds or, more generally, "SupraPeds". To control the potentially numerous contact points on SupraPeds, we will also develop a software system that implements generic multi-contact control for arbitrary humanoids, which will enable autonomous balancing while satisfying contact force constraints. This concept is intuitive to humans as everyone has experienced the need for an extra hand or two to maintain balance or navigate difficult terrain. The PIs will capitalize on this aspect to communicate to high school students, undergraduates, and graduate students, as well as educators nationwide, through live and online courses and seminars. To broaden the participation of under-represented groups, we will participate in a Research Experience for Undergraduates (REU) program especially for community colleges and minority-serving institutions. The results of the research will be published in open-access conferences and journals whenever possible, and the sensing and control software will be documented and published on public websites as open-source code. The applications of the work will impact fields such as search and rescue and scientific exploration.

双足类人机器人有潜力在各种情况下执行类似人类的运动和操纵任务，在这些情况下，要么没有熟练的人类，要么环境条件不允许人类干预。然而，虽然双足运动可以最大限度地提高狭窄工作空间中的可操作性，但同时也会降低运动稳定性。为了开启腿式机器人运动控制研究的新方向，这项工作将使人形机器人能够转变为三足动物或四足动物，或者更一般地说，“SupraPeds”。为了控制 SupraPeds 上潜在的众多接触点，我们还将开发一个软件系统，为任意人形机器人实现通用多接触控制，这将在满足接触力约束的同时实现自主平衡。这个概念对人类来说是直观的，因为每个人都经历过需要一两只额外的手来保持平衡或穿越困难的地形。 PI 将利用这一点，通过现场和在线课程和研讨会与全国的高中生、本科生、研究生以及教育工作者进行交流。为了扩大代表性不足群体的参与，我们将参加本科生研究经验 (REU) 计划，特别是针对社区学院和少数族裔服务机构。研究结果将尽可能在开放获取会议和期刊上发表，传感和控制软件将作为开源代码记录并发布在公共网站上。这项工作的应用将影响搜索救援和科学探索等领域。